A Bionic Structure Design Of Assisted Exoskeleton

Recently,wearable exoskeleton technology has become a hot trend in the field of field robot.Aiming to enhance human performance,exoskeleton has broad application prospects in many fields.More or less,the current exoskeleton has applied the bionic principle in the structural design,but in terms of the joint design,all adopt the external design of the joint.This form will inevitably cause the interference between the exoskeleton and the wearer.The goal of this paper is to design an assisted exoskeleton,which aims to reduce the interference between the exoskeleton and the wearer from the structural design level,thereby reducing the internal friction between the human and the machine,so that the exoskeleton can follow the human movement more smoothly.This will provide a good structural basis for subsequent exoskeleton drive and control.Looking back at the full paper,the main research contents:(1)Propose a structure design of assisted exoskeleton.According to the musculoskeletal model and gait analysis of the lower limbs of the human body,configure the appropriate degree of freedom of the exoskeleton,determine the active degree of freedom,and clarify the range of motion of each joint.The size and specification of the exoskeleton are determined by considering the human body physique standards and the compatibility of the body.The joint structure and overall scheme of the exoskeleton are designed based on bionics,and a three-dimensional virtual model of the designed exoskeleton is established via Solidworks.(2)Analyze the characteristics of the designed exoskeleton,including analyze the kinematics of the exoskeleton by D-H coordinate method,calculate the kinematics positive solution and kinematic inverse solution,and calculate the Jacobian matrix of the exoskeleton.The calculation of the bone's bearing index provides the basis.(3)Based on the human skeletal system,biomechanical data and the designed exoskeleton model,a three-dimensional rigid model of human-exoskeleton was established.The walking simulation was then carried out.The walking performance of the model was analyzed from two aspects of kinematics and ground reaction.(4)Based on the bionic structure design,kinematics and dynamics analysis,the exoskeleton prototype was developed to test the feasibility of the design and the smooth following-up effect on human walking.